CodeV.1_MicroMouse

MicroMouse_v.1

int LeftMotorForward = 10; // Pin 10 has Left Motor connected on Arduino boards.
int LeftMotorReverse = 9; // Pin 9 has Left Motor connected on Arduino boards.

int RightMotorForward = 12; // Pin 12 has Right Motor connected on Arduino boards.
int RightMotorReverse = 13; // Pin 13 has Right Motor connected on Arduino boards.
#define trigPin 12 // define the pins of your sensor
#define echoPin 13 
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//int RightMotorForward, LeftMotorForward = 12; // Pin 12 has Right Motor connected on Arduino boards.///// in this process the plan is to eliminate wires as much posible
//int RightMotorReverse, LeftMotorForward = 13; // Pin 13 has Right Motor connected on Arduino boards.
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
//-----------------------------------------------------------------------------  
void setup(){
  Serial.begin(9600); // begin serial communitication  data read rate 9600 bps
  pinMode(trigPin, OUTPUT);// set the trig pin to output (Send sound waves)// current output 12
  pinMode(echoPin, INPUT);// set the echo pin to input (recieve sound waves) // current input of pin 13
  pinMode(LeftMotorForward, OUTPUT);  // initialize the  pin as an output.
  pinMode(RightMotorForward, OUTPUT);  // initialize the  pin as an output.
  pinMode(LeftMotorReverse, OUTPUT);  // initialize the  pin as an output.
  pinMode(RightMotorReverse, OUTPUT);  // initialize the  pin as an output.
// ---------------------------------- 
}   
//-----------------------------------------------------------------------------  

// The following Loop is to make the Robot go staright
void loop()
{

 
  long duration, distance; // start the scan

  digitalWrite(trigPin, LOW);  
  delayMicroseconds(2); // delays are required for a succesful sensor operation.
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10); //this delay is required as well!
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance = (duration/2) / 29.1;// convert the distance to centimeters.
  if (distance < 15)/*if there's an obstacle 25 centimers, ahead, do the following: */ {   
 Serial.println ("Close Obstacle detected!" );
Serial.println ("Obstacle Details:");
Serial.print ("Distance From Robot is " );
Serial.print ( distance);
Serial.print ( " CM!");// print out the distance in centimeters.

Serial.println (" The obstacle is declared a threat due to close distance. ");
Serial.println (" Turning !");
//servo1.write(266);
   digitalWrite(RightMotorForward, HIGH);   // turn the Right Motor OFF
   digitalWrite(LeftMotorReverse, HIGH);
 
  }// end of if 
//-----------------------------------------------------------------------------  
else{
  Serial.println("no obstacle");
   digitalWrite(RightMotorForward, HIGH);   // turn the Right Motor OFF
  digitalWrite(LeftMotorForward, HIGH);
}
}
//   void Rightturn();
//  
//   digitalWrite(RightMotorForward, LOW);   // turn the Right Motor OFF
//   digitalWrite(LeftMotorForward, HIGH);   // turn the Left Motor ON
//   // here we can implement a for loop to calculate the ammount to turn
//   delay(3000);               // wait for  10 seconds
// 
//   digitalWrite(RightMotorForward,LOW);   // turn the Right Motor OFF
//   digitalWrite(LeftMotorForward, LOW);   // turn the Left Motor OFF
//   delay(3000);               // wait for 10 seconds
////-----------------------------------------------------------------------------  
//   void Leftturn();
//  
//   digitalWrite(RightMotorForward, HIGH);   // turn the Right Motor ON
//   digitalWrite(LeftMotorForward, LOW);   // turn the Left Motor OFF
//   delay(3000);               // wait for  10 seconds
// 
//   digitalWrite(RightMotorForward,LOW);   // turn the Right Motor OFF
//   digitalWrite(LeftMotorForward, LOW);   // turn the Left Motor OFF
//   delay(3000);   // wait for  10 seconds
////-----------------------------------------------------------------------------  
//   void Reverse();
//  
//   digitalWrite(RightMotorReverse, HIGH);   // turn the Right Motor ON
//   digitalWrite(LeftMotorReverse, HIGH);   // turn the Left Motor ON
//  // delay(10000);               // wait for a 10 seconds
// 
//   digitalWrite(RightMotorReverse, LOW);   // turn the Right Motor ON
//   digitalWrite(LeftMotorReverse, LOW);   // turn the Left Motor ON
//   delay(3000);               // wait for a 3 seconds
////----------------------------------------------------------------------------- 
//
//   void Allstop();
//  
//   digitalWrite(RightMotorReverse, LOW);   // turn the Right Motor off
//   digitalWrite(LeftMotorReverse, LOW);   // turn the Left Motor off
//  //delay(3000);             // wait for  10 seconds
////   digitalWrite(RightMotorForward,LOW);   // turn the Right Motor OFF
////   digitalWrite(LeftMotorForward, LOW);   // turn the Left Motor OFF
////  delay(1);    // wait for  10 seconds
////----------

  
 // }